challenge-bot.com Git - 3501/3501-spark-go/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1
   2 package org.usfirst.frc.team3501.robot;
   3
   4 import edu.wpi.first.wpilibj.IterativeRobot;
   5 import edu.wpi.first.wpilibj.command.Command;
   6 import edu.wpi.first.wpilibj.command.Scheduler;
   7 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
   8 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
   9 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  10
  11 import org.usfirst.frc.team3501.robot.autons.*;
  12 import org.usfirst.frc.team3501.robot.subsystems.*;
  13
  14 public class Robot extends IterativeRobot {
  15
  16         public static final Drivetrain drivetrain = new Drivetrain();
  17         public static final Arm               arm = new Arm();
  18         public static final Claw             claw = new Claw();
  19
  20         public static OI oi;
  21
  22         private SendableChooser autoChooser;
  23
  24     private Command autonomousCommand;
  25
  26     public void robotInit() {
  27                 oi = new OI();
  28
  29                 chooseAuto();
  30     }
  31
  32         public void disabledPeriodic() {
  33                 Scheduler.getInstance().run();
  34         }
  35
  36     public void autonomousInit() {
  37         autonomousCommand = (Command) autoChooser.getSelected();
  38         autonomousCommand.start();
  39     }
  40
  41     public void autonomousPeriodic() {
  42         Scheduler.getInstance().run();
  43     }
  44
  45     public void teleopInit() {
  46         autonomousCommand.cancel();
  47     }
  48
  49     public void teleopPeriodic() {
  50         Scheduler.getInstance().run();
  51     }
  52
  53     public void testPeriodic() {
  54         LiveWindow.run();
  55     }
  56
  57     private void chooseAuto() {
  58         autoChooser = new SendableChooser();
  59
  60         autoChooser.addDefault("Drive over step", new DriveOverStep());
  61         autoChooser.addObject("Drive past step",  new DrivePastStep());
  62
  63         SmartDashboard.putData("Auto Mode", autoChooser);
  64     }
  65 }